System for optically dimensioning

ABSTRACT

A projector can be configured to project a pattern into a camera&#39;s field of view. A structural setting can be configured to receive an object in a predetermined position in the field of view. A sensor can be configured to detect that the object is in the predetermined position. A processor can be configured to, in response to the sensor detecting that the object is in the predetermined position, enable operation of the camera. The camera can be configured to obtain one or more images including the pattern on first and second surfaces of the structural setting, and the pattern on the object while the object is in the predetermined position. The processor can be configured to determine dimensions of the object based upon positional information for the first and second surface of the structural setting.

CROSS-REFERENCE TO PRIORITY APPLICATION

This application claims the benefit of U.S. Provisional PatentApplication Ser. No. 62/477,543, for Three-Dimensional Camera PrecisionBooster (filed Mar. 28, 2017), via 35 U.S.C. § 119. U.S. ProvisionalPatent Application Ser. No. 62/477,543 is hereby incorporated byreference in its entirety.

FIELD OF THE INVENTION

The present invention relates to systems that use optical 3Ddepth-sensing technology to measure dimensions of an object and, moreparticularly, to such a 3D optical dimensioner that includes a cameraand pattern projector.

BACKGROUND

It is believed to be known for a 3D optical dimensioner, which includesa pattern projector and a camera, to use one type of algorithm todimension an object's height, and a different type of algorithm todimension the object's width and length. The height is typicallyobtained by quantifying the distance between two detected layers (e.g.,planar surfaces), namely a lower layer that is an environmental groundplane taken as a “reference layer” during initial setup of the opticaldimensioner, and an upper layer that is the top surface (e.g., planartop surface) of the object identified during normal operation (e.g.,after initial setup) of the optical dimensioner. In contrast, for eachof the length and width dimensions, the dimension is typically obtainedby quantifying the distance between edges of the object that areidentified during normal operation. The precision and accuracy of thedetermined length and width dimensions may be lower than the precisionand accuracy of the determined height.

Therefore, a need exists for improving the precision and accuracy of thedetermined length and width dimensions.

SUMMARY

Accordingly, one aspect of this disclosure is the provision of anoptical dimensioner that seeks to provide improved precision andaccuracy for at least one of length and width dimensions.

In an example, a system for determining dimensions can comprise a camerahaving a field of view; a projector configured to project a pattern intothe field of view; a structural setting configured to receive the objectin a predetermined position in the field of view; at least one sensorconfigured to detect that the object is in the predetermined position;and a processor configured to, at least partially in response to the atleast one sensor detecting that the object is in the predeterminedposition, at least enable the camera to obtain at least one image of theobject while the projector is projecting the pattern onto the object inthe field of view, wherein the processor is configured to determine,based at least partially upon the at least one image, dimensions of theobject.

The at least one sensor can comprise a contact sensor. The structuralsetting can comprise first and second upright surfaces configured tosimultaneously engage respective portions of the object while the objectis in the predetermined position. The second upright surface of thestructural setting can extend in a crosswise direction relative to thefirst upright surface of the structural setting.

The structural setting can comprise a corner configured to receive acorner of the object. The corner of the structural setting can be atleast partially defined by the first and second upright surfaces of thestructural setting extending convergently toward one another. The cornercan be a right-angled receptacle configured to receive at least aportion of the object. The right-angled receptacle can be at leastpartially defined by the first and second upright surfaces of thestructural setting extending convergently toward one another.

The structural setting can comprise a third surface configured to engagea portion of the object while the first and second upright surfaces ofthe structural setting are respectively engaging the respective portionsof the object. The third surface of the structural setting can extend ina crosswise direction relative to both of the first and second uprightsurfaces of the structural setting.

As another example, a system for determining dimensions can comprise astructural setting configured to receive an object in a predeterminedposition, the structural setting comprising first and second surfacesconfigured to simultaneously engage respective portions of the objectwhile the object is in the predetermined position, wherein the secondsurface of the structural setting extends in a crosswise directionrelative to the first surface of the structural setting; a projectorconfigured to project at least one pattern onto each of the object whilethe object is in the predetermined position, and the first and secondsurfaces of the structural setting; a camera configured to obtain one ormore images including the at least one pattern on the first and secondsurfaces of the structural setting, and at least one image including theat least one pattern on the object while the object is in thepredetermined position; and a processor configured to determinedimensions of the object based upon at least both the at least one imageand the one or more images, comprising the processor being configured todetermine positional information for the first surface of the structuralsetting based upon the one or more images, determine positionalinformation for the second surface of the structural setting based uponthe one or more images, determine positional information for a firstportion of the object based upon the at least one image, determinepositional information for a second portion of the object based upon theat least one image, determine a distance based upon at least onedifference between the positional information for the first surface ofthe structural setting and the positional information for first portionof the object, and determine a distance based upon at least onedifference between the positional information for the second surface ofthe structural setting and the positional information for second portionof the object.

As a further example, a method for determining dimensions of an objectcan comprise projecting, by a projector, at least one pattern onto anobject while the object in a predetermined position with respect to astructural setting, the structural setting comprising a first surfaceengaging a portion of the object while the object is in thepredetermined position, and a second surface engaging another portion ofthe object while the object is in the predetermined position, the secondsurface extending in a crosswise direction relative to the firstsurface; obtaining, by a camera, one or more images, the one or moreimages comprising at least one image including the at least one patternon the object while the object is in the predetermined position; anddetermining, by a processor, dimensions of the object, comprising theprocessor determining positional information for the first surface ofthe structural setting based upon the one or more images, determiningpositional information for the second surface of the structural settingbased upon the one or more images, determining positional informationfor a first portion of the object based upon the at least one image,determining positional information for a second portion of the objectbased upon the at least one image, determining a dimension based upon atleast one difference between the positional information for firstsurface of the structural setting and the positional information forfirst portion of the object, and determining a dimension based upon atleast one difference between the positional information for secondsurface of the structural setting and the positional information forsecond portion of the object.

The method can further include detecting, with at least one sensor,presence of the object in the predetermined position. The obtaining ofthe one or more images can be at least partially responsive to thedetecting the presence of the object in the predetermined position.

The foregoing summary provides a few brief examples and is notexhaustive, and the present invention is not limited to the foregoingexamples. The foregoing examples, as well as other examples, are furtherexplained in the following detailed description with reference toaccompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings are schematic, and features depicted therein may not bedrawn to scale. The drawings are provided as examples. The presentinvention may, however, be embodied in many different forms and shouldnot be construed as being limited to the examples depicted in thedrawings.

FIG. 1 is a pictorial view of a system for optically dimensioning aphysical object, in accordance with an embodiment of this disclosure.

FIG. 2 is a top plan view of portions of the system of FIG. 1.

FIG. 3 is an isolated, exploded view of a representative upright panelof a structural setting of the system of FIG. 1.

FIG. 4 is an isolated pictorial view of an object or package suitablefor being optically dimensioned by the system of FIG. 1.

FIG. 5 is a pictorial view of the package of FIG. 4 in a predeterminedposition within a corner of the structural setting of FIGS. 1 and 2, inaccordance with the first embodiment.

FIG. 6 is a top view of the configuration of FIG. 5.

FIG. 7 is like FIG. 6, except that the package is not in thepredetermined position.

FIG. 8 is like FIG. 7, except for depicting another example of thepackage not being in the predetermined position.

FIG. 9 is like FIG. 6, except that the package is triangular in a topplan view.

FIG. 10 is like FIG. 6, except that the package is irregular in shape ina top plan view.

FIG. 11 is like FIG. 6, except that the package is round in a top planview.

DETAILED DESCRIPTION

Examples of embodiments are disclosed in the following. The presentinvention may, however, be embodied in many different forms and shouldnot be construed as limited to the embodiments set forth herein. Forexample, features disclosed as part of one embodiment can be used in thecontext of another embodiment to yield a further embodiment.

Referring to FIG. 1, an optical dimensioning system 10 of a firstembodiment of this disclosure includes a 3D camera assembly 12 facingtoward a receptacle or inner corner 14 that is defined by a structuralsetting 16. In the first embodiment, the corner 14 (e.g., right-angledreceptacle or right-angled inner corner) is configured to at leastpartially receive at least one object (e.g., packages 70 in FIGS. 4-11)that are to be imaged by the camera assembly 12. The system 10 includesat least one computing device 18 operatively associated with the cameraassembly 12 for optically dimensioning one or more objects that are atleast partially positioned in the corner 14, as will be discussed ingreater detail below.

The structural setting 16 can include panels 21-23 respectively havingsurfaces 31, 32, 33 that define the inner corner 14. As will bediscussed in greater detail below, one or more of (e.g., each of) thesetting surfaces 31-33 can be taken as a “reference layer” (e.g., duringan initial setup of the system 10). Thereafter, one or more of thereference layers respectively corresponding to the setting surfaces31-33 can be used (e.g., during normal operation following the initialsetup) in the process of dimensioning an object 70 (FIGS. 4-11) that isat least partially positioned in the setting corner 14. As will also bediscussed in greater detail below, the optical dimensioning performed bythe system 10 can be responsive to at least one sensor (e.g., contactdetector 62 in FIG. 3) detecting that the object 70 being dimensioned isin a predetermined position (e.g., in the setting corner 14).

In the example of FIG. 1, the camera assembly 12 can be mounted to apole, or can be supported by other suitable structure(s), so that thecamera assembly is positioned above both the lower support panel 21 andthe object 70 (FIGS. 4-11) being dimensioned. The computer 18 caninclude at least one of each of a processor 40, memory 42, data storagedevice 44, equipment interface 46, network interface 48, user interface50, and any other suitable features. The computer 18, or morespecifically the equipment interface(s) 46 thereof or associatedtherewith, can be in communication with the camera assembly 12 andcontact sensor(s) 62 (FIG. 3) of each upright panel 22, 23 by way ofrespective communication paths 52. The one or more user interfaces 50are configured to allow a user to enter commands and information intothe computer 18, and to allow the computer to output information to theuser. For example, the input-type user interfaces 50 can include akeyboard, a cursor control device (e.g., a mouse), a microphone, touchfunctionality (e.g., capacitive or other sensors that are configured todetect physical contact), and/or any other suitable devices. Asadditional examples, the output-type user interfaces 50 can include adisplay device (e.g., a monitor or projector), speakers, a printerand/or any other suitable devices.

FIG. 2 is a top view of the structural setting 16 and the cameraassembly 12. The system 10 (FIG. 1) includes an optical dimensioner,which comprises the camera assembly 12 and processor 40 (e.g., theprocessor executing software), configured to use 3D depth sensingtechnology to measure dimensions of an object 70 (FIGS. 4-11). In thefirst embodiment, the camera assembly 12 includes a elongate housinghaving opposite ends, a pattern projector 54 mounted in the housing at aposition proximate one of the ends, and at least one camera 56 mountedin the housing at a position proximate the other end of the housing. Thepattern projector 54 can be configured to use structured infrared lightto create a laser pattern 58 that is simultaneously projected onto eachof the setting surfaces 31-33. A portion of the projected pattern 58 anda portion of a field of view 60 of the camera 56 are schematicallydepicted in FIG. 2. The camera 56 can be an infrared camera thatcaptures an image of the infrared pattern 58 projected onto each of thesetting surfaces 31-33. In the first embodiment, each of the settingsurfaces 31-33 can be colored white in a manner that seeks to enhancedetection of the laser pattern 58 thereon by the camera 56. Suitablecamera assemblies 12 are believed to be available from HoneywellInternational Inc. (e.g., AutoCube) and Mantis Vision Ltd.

FIG. 3 is an isolated, exploded view of a representative one of theupright panels 22, 23, in accordance with the first embodiment. As shownin FIG. 3, each of the upright panels 22, 23 can include a planar (e.g.,substantially planar) contact detection apparatus 62 (e.g., at least onecontact sensor) mounted between, and typically in opposing face-to-facecontact with each of, a planar (e.g., substantially planar) outersubstrate 64 and a substantially planner inner 66 substrate. The outersubstrate 64 can be self-supporting, and can be formed of plastic, wood,metal and/or other suitable materials. The inner substrates 66respectively include the right and left upright setting surfaces 32, 33.Each inner substrate 66 can be in the form of a white mat and/or othersuitable layer(s) that can optionally be covered with a clear plasticsheet. In the first embodiment, each of the setting surfaces 31-33 canbe white, planar (e.g., substantially planar), and extend in a crosswisedirection with respect to the other two of the setting surfaces 31-33.More specifically for the first embodiment, each of the setting surfaces31-33 can extend perpendicularly (e.g., substantially perpendicularly)with respect to the other two of the setting surfaces 31-33.Notwithstanding, differently configured setting panels 21-23 and settingsurfaces 31-33 are within the scope of this disclosure.

In the first embodiment, the contact detection apparatus, or detectors62, are configured to detect physical contacts against their associatedupright surface 32, 33, and identify the positions of the physicalcontacts. The location of the physical contact can be identified bycoordinates of a two-dimensional array. Accordingly, the detectors 62are schematically representative of at least one contact sensorconfigured to detect an object 70 and its location, in response tophysical contact (e.g., indirect physical contact) between the objectand the detector.

Each of the detectors 62 can be a resistive contact detection apparatusat least generally of the type incorporated into touchscreens (e.g.,touch-sensitive electronic visual display screens), or the like. Forexample, the layer of the contact detection apparatus 62 that is inopposing face-to-face contact with the inner substrate 66, as well asthe inner substrate and any plastic sheet thereon, are typicallyelastically deformable in response to contact. As another example, it isbelieved that each of the detectors 62 may be a capacitive contactdetection apparatus of the type incorporated into touchscreens (e.g.,touch-sensitive electronic visual display screens), or the like. Each ofthe detectors 62 typically includes a circuit/controller 68 thatcommunicates with (e.g., outputs to) the computer 18 (FIG. 1). Asanother example, it is believed that the detectors 62 may be configuredto be and/or be replaced with one or more proximity sensors configuredto detect object positions indicative of contacts against the uprightsetting surfaces 32, 33.

In accordance with the first embodiment, an overall method of using thesystem 10 (FIG. 1) to dimension an object 70 can include a method ofinitially setting up the system 10 (“initial setup”), followed by amethod of serially repeatedly operating the system after the initialsetup (“post-setup”) to dimension numerous objects or packages 70 inseries.

Referring to FIG. 2, as part of the initial setup, the camera assembly12 and setting 16 are typically fixedly arranged with respect to oneanother. In this fixed arrangement, the pattern 58 is typicallysimultaneously projected into the setting corner 14 and upon at least alarge percentage of each of the setting surfaces 31-33, and the settingcorner 14 and each of the setting surfaces 31-33 are in the field ofview 60. The pattern 58 and field of view 60 can originate at a face ofthe camera assembly 12, and a straight imaginary line 69 can extendperpendicular from the center of the camera assembly's face to the point(e.g., to proximate the point) where the setting surfaces 31-33intersect, and so that a forty five degree angle (e.g., about orsubstantially forty five degree angle) is defined between the straightimaginary line and each of the setting surfaces 31-33. In the firstembodiment, the camera assembly 12 and setting 16 remain in thesepositions relative to one another throughout both the remainder of theinitial setup of the system 10 and throughout the associated post-setupoperation of the system.

Continuing with the reminder of the initial setup, or the like, thesystem 10 (FIG. 1) can be operated, under control of the processor 40(e.g., at least one processor executing software), to obtain positionalinformation for each of the setting surfaces 31-33, for example asdescribed in the following. The method includes the projector 54projecting the pattern 58 (e.g., at least one pattern) onto the settingsurfaces 31-33, and obtaining, by the camera 56, one or more imagesincluding the at least one pattern 58 on the setting surfaces 31-33. Theone or more images can comprise a 3D image, range image and/or any othersuitable type of image including features from which 3D information canbe derived. The system 10 can be operated, under control of theprocessor 40 (e.g., at least one processor executing software), todetermine positional information for the setting surfaces 31-33, orportions thereof, based upon the one or more captured images.

As will be discussed in greater detail below, the positional informationfor each of the setting surfaces 31-33 can be used as a “referencelayer” in determining dimensions of an object 70; therefore, suchpositional information can be referred to as reference positionalinformation. The system 10 can be operated, under control of theprocessor 40 (FIG. 1), so that for each of the setting surfaces 31-33,the corresponding reference positional information can describe, or bein the form of, a 3D model of at least a portion of the surface, so asto define a planar (e.g., substantially planar) reference layer thatcorresponds to at least a portion of the setting surface. As will bediscussed in greater detail below, each reference layer can be used, forexample as a reference surface, in dimensioning an object 70. Undercontrol of the processor 40, the reference positional information (e.g.,data defining 3D models, reference layers, or the like) for the settingsurfaces 31-33 can be saved in computer data storage 44 for use inpost-setup operation of the system, as will be discussed in graterdetail below.

The system 10 can be used, for example and referring to FIG. 4, todimension an object 70 in the form of a rectangular (e.g., substantiallyrectangular) package 70 having planar (substantially planar) front,right, left, rear, top, bottom surfaces 71, 72, 73, 74, 75, 76. FIG. 5depicts the package 70 in a predetermined position in the setting 16, inaccordance with an example. In FIG. 5, the package 70 is positioned atleast partially in the setting corner 14 (FIGS. 1 and 2). Morespecifically, in the configuration depicted in FIGS. 5 and 6, a cornerof the package 70 is positioned in (e.g., fully mated into) the settingcorner 14, so that planar (e.g., substantially planar) surfaces 73, 74,76 (FIG. 4) of the package are respectively parallel to (e.g.,substantially parallel to) and in opposing face-to-face contact with thesetting surfaces 31-33.

The system 10 of the first embodiment is configured so that, for theconfiguration depicted in FIGS. 5 and 6, the contact detector 62 (FIG.3) of the left upright panel 22 (“left contact detector”) outputs asignal in response to, and for the duration of, the contact between theleft setting surface 32 and the left package surface 73; and the contactdetector 62 of the right upright panel 23 (“right contact detector”)outputs a signal in response to, and for the duration of, the contactbetween the right setting surface 33 and the rear package surface 74.

The processor 40 (FIG. 1) can be aware of the contact-indicating signalsfor the left and right detectors 62. In response to the processor 40simultaneously being aware of the contact-indicating signals from boththe right and left contact detectors 62, the processor can at leastpartially initiate optical dimensioning operations of the system 10. Forexample, the processor 40 can responsively automatically initiate (e.g.,after operation of a count-down timer) a process of opticallydimensioning the package 70, or the processor can responsivelyautomatically cause a respective user interface device 50 (FIG. 1) topresent to a user the option of initiating the dimensioning process byway of predetermined user input (e.g., the user selecting an indicationof an option to proceed with the process, or the like). At leastpartially reiterating from above, the processor 40 can be configured to,at least partially in response to the at least one sensor (e.g., theright and left contact detectors 62) detecting that the object 70 is inthe predetermined position, at least enable the camera assembly 12 toobtain at least one image of the object while the projector 54 isprojecting the pattern 58 onto the object in the field of view 60 of thecamera 56. For example, the processor 40 can restrict operability of(e.g., prevent operation of) the camera assembly 12 until the object 70is in the predetermined position.

At least partially reiterating from above, the system 10 can beconfigured so that the contact detectors 62 (FIG. 3) and processor 40(FIG. 1) are cooperatively operative in a manner that seeks to make surethat the object or package 70 is in contact with both upright surfaces32, 33 before allowing dimensioning of the package 70. Typically gravitywill ensure that the object or package 70 is in contact with thehorizontal support surface 31.

An example of a post-setup method performed by the system 10, undercontrol of the processor 40 (e.g., the processor executing software), isdescribed in the following, in accordance with the first embodiment. Themethod includes the projector 54 projecting the pattern 58 (e.g., atleast one pattern) onto the package 70 while the structural setting 16is in receipt of the package so that the package is the predeterminedposition as described above with reference to FIGS. 5 and 6. The methodalso includes obtaining, by the camera 56, at least one image includingthe at least one pattern 58 on the package 70 (e.g., on the packagefront, right and top surface 71, 72, 75) while the package is in thepredetermined position. The at least one image can comprise a 3D image,range image and/or any other suitable type of image including featuresfrom which 3D information can be derived. The system 10 can be operated,under control of the processor 40 (e.g., at least one processorexecuting software), to determine positional information for thepackage's front, right and top surfaces 71, 72, 75, or portions thereof,based upon the at least one 3D image. This positional information may bereferred to as “object positional information.” For example, for each ofthe package front, right and top surfaces 71, 72, 75, the correspondingobject positional information can describe, or be in the form of, a 3Dmodel of at least a portion of the surface, so as to define a planar(e.g., substantially planar) “object layer” that corresponds to at leasta portion of the surface.

Then, the system 10 can be operated, under control of the processor 40(e.g., at least one processor executing software), to determinedimensions of the package 70. This can include retrieving the referencepositional information for the setting surfaces 31-33 from computer datastorage 44. Referring to FIGS. 4 and 5, a distance (e.g., lengthdimension of the packable 70) can be determined based upon at least onedifference between the positional information for the right uprightsetting surface 33 and the positional information for the package frontsurface 71. This determining can comprise determining a distance alongat least one line extending perpendicularly between the right uprightsetting surface's reference layer and the package front surface's objectlayer. Similarly, a distance (e.g., width dimension of the package 70)can be determined based upon at least one difference between thepositional information for the left upright setting surface 32 and thepositional information for the package right surface 72. Thisdetermining can comprise determining a distance along at least one lineextending perpendicularly between the left upright setting surface'sreference layer and the package right surface's object layer. Similarly,a distance (e.g., height dimension of the package 70) can be determinedbased upon at least one difference between the positional informationfor the lower (e.g., horizontal) setting surface 31 and the positionalinformation for the package top surface 75. This determining cancomprise determining a distance along at least one line extendingperpendicularly between the lower (e.g., horizontal) setting surface'sreference layer and the package top surface's object layer. For example,the processor 40 (FIG. 1) can, responsive to the determination of thedimensions, output the dimensions or other related values (e.g., a valuecalculated by the processor using the dimensions) to one or moreinterface devices 50 (FIG. 1) and/or to other locations, for example byway of one or more of the network interfaces 48 (FIG. 1), or the like.

At least partially reiterating from above, the system 10 (FIG. 1) can beoperative under control of the processor 40 (FIG. 1) to use the 3Dcamera capabilities (e.g. the processor 40 executing software to processimages from the camera assembly 12) to detect the setting surfaces31-33, and obtain and store their positional information, typicallywithout the object or package 70 being present; then use the 3D cameracapabilities to detect the object's or package's front, right and topsurfaces 71, 72, 75 and obtain their positional information while theobject or package is in the predetermined position; compute thedifferences respectively between the setting surfaces 31-33 (e.g., theirpositional information) and the package's front, right and top surfaces71, 72, 75 (e.g., their positional information), wherein thosedifferences represent optically measured dimensions of the object orpackage; and output the dimensions and/or other information that may beat least partially based upon the dimensions.

Reiterating from above with reference to FIGS. 5 and 6, the processor 40(FIG. 1) can be responsive to simultaneous occurrence of thecontact-indicating signals from both the right and left detectors 62 toat least partially initiate optical dimensioning operations of thesystem 10. For example, the processor 40 can be responsive to therebeing contact-indicating signal(s) from only one of the right and leftdetectors 62, for example as a result of the configurations depicted inFIGS. 7 and 8, respectively, by not allowing, or otherwise restricting,optical dimensioning operations of the system 10. As another example,the processor 40 can be responsive to there being contact-indicatingsignal(s) from only one of the right and left detectors 62, for exampledue to the configurations depicted in FIGS. 7 and 8, respectively, byproviding output to one or more interface devices 50 (FIG. 1). Thisoutput can be provided to a user, for example, visual and/or audibly, asa warning and/or instructions for placing the object or package 70 inthe predetermined position, or the like.

In accordance with the first embodiment, rather than the object orpackage 70 being rectangular, the package can define other shapes. As afew examples, the package 70 can be triangular as depicted in FIG. 9,irregular in shape as depicted in FIG. 10, or round as depicted in FIG.11. In this regard, the system 10 can be configured to determine, undercontrol of the processor 40 (FIG. 1), that the length and width of thepackage 70 are not defined by rectangular surfaces. For example, thesystem 10 can be operative under control of the processor 40 to use the3D camera capabilities (e.g. the processor 40 executing software toprocess images from the camera assembly 12) to sort orthogonal fromnon-orthogonal objects.

In response to the system 10 determining that the length and width ofthe package 70 are not defined by rectangular surfaces, the system 10can operate, under control of the processor 40, to determine dimensionsof the irregular or round package 70 without using the positionalinformation for the right upright setting surface 33 (e.g., withoutusing the right upright setting surface's reference layer) and withoutusing the positional information for the left upright setting surface 32(e.g., without using left upright setting surface's reference layer).For example, in response to the system 10 determining that the lengthand width of the package 70 are not defined by rectangular surfaces, thesystem 10 can operate, under control of the processor 40, to determinedimensions of the irregular or round package 70 by using the positionalinformation for the lower (e.g., horizontal) setting surface 31 and thepositional information for the package top surface 75, and by usingpositional information for detected edges of the object or package.Suitable equipment for optically dimensioning using positionalinformation for detected edges is believed to be available fromHoneywell International Inc. (e.g., AutoCube) and Mantis Vision Ltd.

A second embodiment of this disclosure can be like the first embodiment,except for variations noted and variations that will be apparent tothose of ordinary skill in the art. In accordance with the secondembodiment, the system 10 can be configured so that the contactdetectors 62 (FIG. 3) and processor 40 (FIG. 1) are cooperative asdiscussed above for the first embodiment, but the dimensioning can becarried out in any suitable manner, for example using opticaldimensioning equipment available from Honeywell International Inc.(e.g., AutoCube) and Mantis Vision Ltd.

Throughout the Detailed Description section of this disclosure, termssuch as “substantially,” “about,” “proximate,” and the like, have beenused for the purpose of providing a range of examples. It is believedthat those of ordinary skill in the art will readily understand that, indifferent implementations of the features of this disclosure, differentengineering tolerances, precision, and/or accuracy may be applicable.Accordingly, it is believed that those of ordinary skill will readilyunderstand the usage herein of the terms such as “substantially,”“about,” “proximate,” and the like.

To supplement the present disclosure, this application incorporatesentirely by reference the following patents, and patent applicationpublications: U.S. Patent Publication No. 2002/0082802; U.S. PatentPublication No. 2012/0063672; U.S. Pat. No. 5,841,541; InternationalPublication No. WO 2015/023483; U.S. Pat. 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In the above description and/or figure, examples of embodiments havebeen disclosed. The present invention is not limited to such exemplaryembodiments. Unless otherwise noted, specific terms have been used in ageneric and descriptive sense and not for purposes of limitation. Theuse of the term “and/or” includes any and all combinations of one ormore of the associated listed items.

The invention claimed is:
 1. A system for determining dimensions, thesystem comprising: a camera having a field of view, a projectorconfigured to project a pattern into the field of view, a structuralsetting configured to receive an object to be dimensioned in apredetermined position, wherein the object is positioned within thestructural setting, wherein the structural setting comprises: first andsecond upright surfaces that simultaneously engage respective portionsof the object while the object is in the predetermined position, and thesecond upright surface of the structural setting extends in a crosswisedirection relative to the first upright surface of the structuralsetting, at least two sensors, each positioned on a respective one ofthe first upright surface or the second upright surface, wherein each ofthe at least two sensors is configured to detect whether the object isin the predetermined position, and a processor configured to: controlthe camera to obtain a first image of the structural setting without theobject, at least partially in response to the at least two sensorsdetecting that the object is in the predetermined position, control thecamera to obtain at least one second image of the object while theprojector is projecting the pattern onto the object in the field ofview, determine first positional information for the first and secondupright surfaces, based on the first image, determine second positionalinformation for at least one surface of the object based on the at leastone second image, and determine at least one dimension of the object,based on the first positional information and the second positionalinformation.
 2. The system according to claim 1, wherein at least one ofthe at least two sensors comprises a contact sensor.
 3. The systemaccording to claim 1, wherein: the structural setting comprises a cornerconfigured to receive a corner of the object, and the corner of thestructural setting is at least partially defined by the first and secondupright surfaces of the structural setting extending convergently towardone another.
 4. The system according to claim 1, wherein: the structuralsetting comprises a right-angled receptacle configured to receive atleast a portion of the object, and the right-angled receptacle is atleast partially defined by the first and second upright surfaces of thestructural setting extending convergently toward one another.
 5. Thesystem according to claim 1, wherein: the camera is configured to obtainthe first image when the projector is projecting the pattern on thefirst and second upright surfaces of the structural setting; and theprocessor is configured to determine the second positional informationfor a first surface of the object based on the at least one secondimage, determine the second positional information for a second surfaceof the object based on the at least one second image, determine a firstdimension of the object, based on a difference between the firstpositional information for the first upright surface of the structuralsetting and the second positional information for the first surface ofthe object, and determine a second dimension of the object, based on adifference between the first positional information for the secondupright surface of the structural setting and the second positionalinformation for the second surface of the object.
 6. The systemaccording to claim 1, wherein the structural setting comprises a thirdsurface configured to engage a portion of the object while the first andsecond upright surfaces of the structural setting are respectivelyengaging the respective portions of the object, wherein: the thirdsurface of the structural setting extends in a crosswise directionrelative to the first upright surface of the structural setting, and thethird surface of the structural setting extends in a crosswise directionrelative to the second upright surface of the structural setting.
 7. Thesystem according to claim 6, wherein: a substantially planar portion ofthe first upright surface of the structural setting is substantiallyperpendicular to a substantially planar portion of the second uprightsurface of the structural setting, and a substantially planar portion ofthe third surface of the structural setting is substantiallyperpendicular to both the substantially planar portion of the firstupright surface of the structural setting and the substantially planarportion of the second upright surface of the structural setting.
 8. Thesystem according to claim 6, wherein the structural setting comprises acorner configured to receive a corner of the object.
 9. A system fordetermining dimensions, the system comprising: a structural settingconfigured to receive an object to be dimensioned in a predeterminedposition, wherein the object is positioned within the structuralsetting, the structural setting comprising: first and second uprightsurfaces configured to simultaneously engage respective portions of theobject while the object is in the predetermined position, wherein thesecond upright surface of the structural setting extends in a crosswisedirection relative to the first upright surface of the structuralsetting; at least two sensors, each positioned on a respective one ofthe first upright surface or the second upright surface, wherein each ofthe at least two sensors is configured to detect whether the object isin the predetermined position, a projector configured to project atleast one pattern onto each of: the object while the object is in thepredetermined position, and the first and second upright surfaces of thestructural setting, a camera configured to obtain, based on a controlinput, each of: one or more first images including the at least onepattern on the first and second upright surfaces of the structuralsetting, and at least one second image including the at least onepattern on the object while the object is in the predetermined position,and a processor configured to; generate the control input to control thecamera; determine first positional information for the first uprightsurface of the structural setting based upon the one or more firstimages, determine second positional information for the second uprightsurface of the structural setting based upon the one or more firstimages, determine third positional information for a first surface ofthe object based on the at least one second image, determine fourthpositional information for a second surface of the object based on theat least one second image, determine a first distance based on at leastone difference between the first positional information for the firstupright surface of the structural setting and the third positionalinformation for the first surface of the object, determine a seconddistance based on at least one difference between the second positionalinformation for the second upright surface of the structural setting andthe fourth positional information for the second surface of the object,and determine dimensions of the object based on at least the firstdistance and the second distance.
 10. The system according to claim 9,wherein: the structural setting comprises a corner configured to receivea corner of the object, and the corner of the structural setting is atleast partially defined by the first and second upright surfaces of thestructural setting extending convergently toward one another.
 11. Thesystem according to claim 9, wherein: the structural setting comprises aright-angled receptacle configured to receive at least a portion of theobject, and the right-angled receptacle is at least partially defined bythe first and second upright surfaces of the structural settingextending convergently toward one another.
 12. The system according toclaim 9, wherein the processor is configured to determine the dimensionsat least partially in response to the at least two sensors detectingthat the object is in the predetermined position.
 13. The systemaccording to claim 12, wherein at least one of the at least two sensorscomprises a contact sensor.
 14. The system according to claim 12,wherein the structural setting comprises a corner configured to receivea corner of the object.
 15. A method for determining dimensions of anobject, the method comprising: controlling a camera to obtain a firstimage of a structural setting without the object; detecting by at leasttwo sensors presence of an object at a predetermined position within astructural setting; projecting, by a projector, at least one patternonto the object, in response to determining that the object is in thepredetermined position within the structural setting, the structuralsetting comprising a first surface engaging a portion of the objectwhile the object is in the predetermined position, and a second surfaceengaging another portion of the object while the object is in thepredetermined position, the second surface extending in a crosswisedirection relative to the first surface, obtaining, by the camera, inresponse to the detecting by the at least two sensors, presence of theobject at the predetermined position within the structural setting, atleast one second image including the at least one pattern on the objectwhile the object is in the predetermined position, and determining, by aprocessor, dimensions of the object, comprising the processor;determining positional information for the first surface of thestructural setting based upon the first image, determining positionalinformation for the second surface of the structural setting based uponthe first image, determining positional information for a first portionof the object based upon the at least one second image, determiningpositional information for a second portion of the object based upon theat least one second image, determining a first dimension of the object,based upon at least one difference between the positional informationfor first surface of the structural setting and the positionalinformation for first portion of the object, and determining a seconddimension of the object, based upon at least one difference between thepositional information for second surface of the structural setting andthe positional information for second portion of the object.
 16. Themethod according to claim 15, wherein the determining the positionalinformation of the first and second surfaces of the structural settingcomprises determining, by the processor, positions of the first andsecond surfaces of the structural setting based at least partially uponthe first image.
 17. The method according to claim 15, comprising boththe projector and the camera remaining stationary during both theprojecting and the capturing.
 18. The method according to claim 15,comprising positioning a corner of the object in a corner of thestructural setting.